CN101365615A - Car steering wheel electromechanical booster - Google Patents
Car steering wheel electromechanical booster Download PDFInfo
- Publication number
- CN101365615A CN101365615A CNA2006800377406A CN200680037740A CN101365615A CN 101365615 A CN101365615 A CN 101365615A CN A2006800377406 A CNA2006800377406 A CN A2006800377406A CN 200680037740 A CN200680037740 A CN 200680037740A CN 101365615 A CN101365615 A CN 101365615A
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- CN
- China
- Prior art keywords
- phase
- rotor
- stator
- electrical motor
- output shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0409—Electric motor acting on the steering column
- B62D5/0412—Electric motor acting on the steering column the axes of motor and steering column being parallel
- B62D5/0415—Electric motor acting on the steering column the axes of motor and steering column being parallel the axes being coaxial
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0403—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by constructional features, e.g. common housing for motor and gear box
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
- H02K3/28—Layout of windings or of connections between windings
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
- H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
- H02K21/14—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures
- H02K21/16—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures having annular armature cores with salient poles
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/14—Structural association with mechanical loads, e.g. with hand-held machine tools or fans
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Power Steering Mechanism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention relates to car control means. The stator of an electric motor is provided with a magnet core comprising n pronounced poles and a rotor comprising n-2 poles embodied in the form of permanent magnets. The stator three-phase winding is provided with coils placed in the six equal alternating phase areas in such a way that one area is assigned to one pole and with several coils belonging to one phase in each phase area. The winding coils in the areas belonging to one phase are connected in a parallel aiding configuration. The steering wheel booster body is provided with input and output shafts which are interconnected with the aid of a torsion bar embodied in the form of a torque sensor sensing element and are linked with the sheering wheel and sheering mechanism by the other ends thereof. The electric motor rotor is mounted on the output shaft. The inventive device also comprises a controllable source for supplying the stator winding, a rotor position sensor and a controll unit which is connected to the outputs of the torque and rotor position sensors by the inputs thereof and to the control input of the supply source by the output thereof. Said invention excludes the transmission of an outside disturbance torque to the steering wheel and makes it possible to improve the producibility of the electric motor and the steering wheel buster and to increase the useful properties thereof.
Description
Technical field
The present invention relates to a kind of automotive controls, it can be used to realize reducing of steering handwheel application force, especially when low speed situation lower-pilot steering handwheel and when automobile remains static, rotate under the situation of steering handwheel, use this device to reduce steering handwheel power.
Background technology
Exist such car steering wheel electromechanical booster (referring to document RU2158692 in the prior art, its international classification number B62D 5/04, the document date is 2000): it comprises hand-wheel torque sensor, car speed sensor and the control unit that links to each other with electrical motor with described sensor, the signal that electrical motor wherein sends in response to control unit and being controlled, and be connected with output shaft by speed reduction gearing.
Electrical motor in this servo-unit is a three phase electric machine, and the number of stator tooth equals 12, the number of rotor tooth equals 8, but the magnetic circuit system of this electrical motor is made such that there are relative deflection in rotor tooth and stator tooth, and stator tooth and rotor tooth have definite relation with respect to the tooth pitch that the tooth top gradient of air gap and width are chosen to be with rotor.
There is following shortcoming in existing apparatus:
There is pulsation in electromagnetic torque in the-rotating shaft;
-size is big, Heavy Weight;
-in the steering handwheel servo-unit, being provided with speed reduction gearing, it has increased the complexity of structure;
-weight numerical value and size numerical value all have been increased;
-owing to self-locking may appear in steering handwheel when steering handwheel servo-unit et out of order, so the handling of automobile suffers damage.
The immediate prior art of wheel electromechanical booster that turns to proposed by the invention is that a kind of wheel electromechanical booster that turns to is (referring to document RU 2181091, its international classification number B62D 5/04, the document date is 2002), it comprises: body, in this body, be provided with input shaft and output shaft, input shaft and output shaft are connected with each other by means of torsion bar, torsion bar wherein is designed to the form of torque sensor sensing element, input shaft and output shaft and steering handwheel link, and utilize the other end and steering hardware to link; Electrical motor, it comprises the stator that has magnetic core and three phase windings, magnetic core wherein has n magnetic pole that highlights, winding is then realized by coil, these coils are arranged in the equal area of six phase cross-overs according to certain mode, make each phase region all be designated as a magnetic pole, and a plurality of coils that are in each phase region belong to same phase place, electrical motor also comprises the rotor that has n-2 magnetic pole, this rotor is designed to the form of permanent magnet, and this rotor is installed on the output shaft; The controollable power supply, it is used for the three phase windings power supply to motor stator; Sensor, it is used to detect the position of motor rotor; And control unit, the input port of this control unit is connected with the output port of torque sensor and motor rotor position sensor, but its output port links to each other with the control input end mouth of described power supply.
In this conventional device, be in coil in the phase region, that belong to same phase in motor stator three phase windings and coupled together by structure according to the series connection assembly.
There is following shortcoming in this existing apparatus:
-because the loop (contour) of motor rotor and stator lacks the design of energy shock absorbing, so the in-to-in buffer capacity is poor.This causes the appearance of following situation: on the part road surface, when wheel was subjected to rapid application force, there was disturbance in the moment that is delivered on the steering handwheel;
-very poor at the technology efficiency of motor stator manufacture view, and the usefulness aspect acquisition optimal mechanical details characteristic is also very poor.
The precondition that produces above-mentioned defective is: under and the situation that power supply voltage is low low at line frequency, the number of turn of motor stator winding phase coil is few, but cross-sectional plane is big.Such coil is arranged in can the above-mentioned defective of further aggravation in the narrow openings.
The electrical motor that turns to wheel electromechanical booster that is used for high moment of torsion direct drive should have maximum torque under the electromagnetic load under the given size, in maximum.
Under the given situation of motor size, under the given situation of magnetic induction, the form of mechanical specialities (promptly not the location point of forced stroke and short dot position) is by the number decision of phase place wire turn.
Under and the situation (promptly there is such situation in existing steering wheel electric servo-unit) that is connected in series few in the corresponding lines number of turns, owing to depending on that selected design makes the variation of the number of turn have very big discreteness, so, in the detailed design that has occurred a lot of characteristics aspect the mechanical specialities that obtains the best.
Summary of the invention
Problem to be solved by this invention is to design a kind of device, in this device, eliminate situation from external disturbance moment to steering handwheel that transmit, and can improve the technical usefulness aspect manufacturing motor stator and whole steering handwheel servo-unit, and can improve the available quality of servo-unit.
In the present invention, realized above-mentioned effect by designing a kind of wheel electromechanical booster that turns to, this servo-unit comprises: body, in this body, be provided with input shaft and output shaft, input shaft and output shaft are connected with each other by means of torsion bar, torsion bar wherein is designed to the form of torque sensor sensing element, and input shaft and output shaft and steering handwheel link, and utilizes the other end and steering hardware to link; Electrical motor, it comprises the stator that has magnetic core and three phase windings, magnetic core wherein has n magnetic pole that highlights, winding is then realized by coil, these coils are arranged in the equal area of six phase cross-overs according to certain mode, make each phase region all be designated as a magnetic pole, and a plurality of coils that are in each phase region belong to same phase place, electrical motor also comprises the rotor that has n-2 magnetic pole, this rotor is designed to the form of permanent magnet, and this rotor is installed on the output shaft; The controollable power supply, it is used for the three phase windings power supply to motor stator; Sensor, it is used to detect the position of motor rotor; And control unit, the input port of this control unit is connected with the output port of torque sensor and motor rotor position sensor, but its output port links to each other with the control input end mouth of described power supply, wherein, according to the present invention, be in coil in the phase region, that belong to same phase in motor stator three phase windings and coupled together by structure according to assembly in parallel.
Coils from parallel connection of coils in the phase region got up to make form short C/LOOP in the stator winding, relevant therewith, the electro-motive force of adjacent coils (EMF) becomes the reciprocal electro-motive force of phase place.Importing under the situation of perturbation action from automotive wheel, be positioned at electrical motor on the output shaft, in the loop of winding, producing electric current thus beginning to eliminate this perturbation action.To eliminate the perturbation action that is entered by these electric current formed damping moments.
Thereby these loops are similar to the damping grizzly bar (damping grid) in the synchronous motor.
The magnetic core that utilizes electrical motor is simplified as this physical efficiency of steering handwheel servo-unit and is turned to the structure of wheel electromechanical booster, and makes its manufacturing technology become simple.
The locate mode that is positioned at hollow input shaft or hollow output shaft in-to-in torsion torque sensor can reduce to turn to the size of wheel electromechanical booster.
To cause the increase of the number of turn in the coil to the parallel connection of coil.This will make the number of coil select more to optimize conversely, and can increase electromagnetic torque.
Description of drawings
Hereinafter will be introduced flesh and blood of the present invention by means of the detailed description and the accompanying drawings, in the accompanying drawings:
Section-drawing among Fig. 1 has been represented the wheel electromechanical booster that turns to of the present invention;
Fig. 2 is the cross sectional drawing of electrical motor, and this electrical motor is used in and turns in the wheel electromechanical booster; And
Scheme drawing among Fig. 3 has been represented the annexation of coil polarity.
The specific embodiment
Car steering wheel electromechanical booster is by following component set-up: body 1; Input shaft 2 and output shaft 3, they are connected with each other by means of torsion bar 4, and torsion bar 4 is sensing elements of torque sensor 5, and it is measured the moment that is applied on the steering handwheel, and forms cooresponding output signal; Electrical motor 6; Controollable power supply (not shown), it is used for the threephase stator winding feed electric power to electrical motor; The rotor-position sensor 7 of electrical motor; And control unit (not shown).
The input port of control unit links to each other with the output port of electrical motor moment sensor 5 and rotor-position sensor 7, but its input port links to each other with the control input end mouth of described power supply.
Rotor 9 is multisegmented rotors, and it is made into to be magnetized by permanent magnet 13.The number of magnetic pole of the stator 11 and the number of rotor magnetic pole differ 2.
Rotor-position sensor 7 is made of three Hall (Hall) effect sensor, these three sensors 120 degree that offset out each other, and can determine the angle position of rotor with respect to rotor 9 leakage magnetic fluxs, leakage magnetic flux wherein is by permanent magnet 13 generations.
The coil of stator 10 has lead end A, B, C and terminal X, Y, Z, and these coils are disposed in six phase regions.A plurality of coils are all arranged in each phase region, and these coils are coupled together by the structure according to assembly in parallel, and belong to same phase place.
The torsion bar 4 of torque sensor 5 can be positioned in the inside of hollow output shaft 3 or hollow input shaft 2.
Arrange that like this torsion bar can allow input shaft and the output shaft form with spline is joined together, and have certain play, this play equals the angle numerical value that torsion bar screws.
It is necessary that certain safety measure is set, and to prevent applying excessive moment to input shaft, this can twist off torsion bar.Selection to the different positioning forms of torsion bar is to be determined by the structure particularity that turns to wheel electromechanical booster.
The working process of wheel electromechanical booster that turns to of the present invention is as follows.
Produce under the prerequisite of signal at torque sensor 5, the control unit of electrical motor 6 sends power controlling signal, and this signal is applied on the winding of electrical motor 6, thinks that steering hardware provides required compensating moment.Accompany therewith, the signal of rotor-position sensor 7 has been considered in the formation of signal numerical value on the winding 12.
In the control unit of electrical motor 6, eliminate the electric current of sinusoidal form according to the signal of setting, when flowing through in the winding 12 of this electric current at stator 10, produce electromagnetic torque, this moment just has been applied on the input shaft 3 of steering handwheel servo-unit immediately.
By more accurately selecting the number of turn of phase place, adopting coil in the same phase region is that the coil 12 of parallel-connection structure can be simplified the manufacturing technology of electrical motor 6, and improves the weight numerical value and the size of electrical motor 6 and whole steering handwheel servo-unit.
In the present invention, with coils from parallel connection of coils and winding is connected under the situation of identical voltage (that is to say, identical with the coil voltage that is connected in series), the number of turn of coil has increased, but the cross-sectional area of lead has reduced.The winding that cross-sectional plane is less is arranged in the electrical motor that turns to wheel electromechanical booster more feasible technically.
Under the given situation of size, the weight of electrical motor and size numerical value are by the data decision of electromagnetic torque.The product of this moment numerical value and current rate, the number of turn and air gap inductive coefficient is proportional.
Selecting to have determined under the given situation of the maximum influence value of air gap, current rate greatest measure (obtaining) from vehicle-mounted electric power circuit, the increase of moment numerical value only can by select each mutually in the optimum value of coil turn reach.But increase the increase that coil turn can cause the coil counter electromotive force, thereby, reducing of current rate and reducing of moment can be caused.
In the mechanical specialities not the location point of forced stroke also can change, the numerical value of this index is directly proportional with the voltage value that is applied, and is inversely proportional to the number of turn and magnetic flow in the coil.
Therefore the coil turn of the electrical motor that its coil is connected in series in each phase region is less, but makes dispersion that its number of turn changes very greatly, reaches ranks such as 3,4,5.
For example, as a groundwork, making following winding will be by impossible: the number of turn in its coil equals 5.3, this winding is arranged in the motor with three coils, and coil is connected in series in phase region, but under the situation that these three coils from parallel connection of coils and voltage are equated, the number of turn in the coil will be increased three times, that is to say 5.3 * 3 ≈ 16.
In the coil in being in same phase region, that be connected in parallel, when rotor 9 rotates, can generate electro-motive force, the numerical value of this electro-motive force is transformable, and this can cause producing the counteracting electric current of equity in winding 12.Reason in common electrical motor, does not adopt such type of attachment in principle for this reason.But under the situation of rotational frequency very low (reaching 2 revolutions per seconds degree), the electrical motor in the car steering wheel electromechanical booster but can be worked.
Under the situation of above-mentioned low rotational frequency, under the pattern of demarcating, the electro-motive force that generates in the winding is also little, and it is also very little to offset electric current, this be because: the voltage that is applied has been balanced out by the loss in voltage that the virtual impedance of the winding 12 of stator 10 is brought basically.
Under transition condition, sharply do the time spent when what the rotating shaft of rotor 9 was subjected to the wheel part, the instantaneous numerical value of electro-motive force will sharply increase in the coil, this will cause producing in the coil of phase region very big counteracting electric current, this will produce opposing torque, thereby promote the buffering to the perturbation action that comes from the wheel part.
Thereby, being in coil in each phase region, that belong to same phase in electrical motor 6 stators 10 is coupled together by the structure according to assembly in parallel, this makes the present invention compare with immediate prior art to have favourable difference, reason is: the present invention can eliminate the external disturbance moment of transmitting to steering handwheel, improve the technical usefulness aspect manufacturing motor stator and whole steering handwheel servo-unit significantly, and can improve the available quality of servo-unit.
Employing the present invention can improve safety and the convenience when driving a car.
Make and tested the sample that turns to wheel electromechanical booster.Resulting result shows: compare with prototype, owing to the number of turn that can more preferably select in the motor winding, so the present invention turns to the maximum torque in the wheel electromechanical booster rotating shaft to increase 10%.
Claims (4)
1. one kind turns to wheel electromechanical booster, it comprises: body (1), in this body, be provided with input shaft (2) and output shaft (3), input shaft and output shaft are connected with each other by means of torsion bar (4), torsion bar wherein is designed to the form of torque sensor (5) sensing element, input shaft and output shaft and steering handwheel link, and utilize its other end and steering hardware to link; Electrical motor (6), it comprises the stator (10) that has magnetic core (8) and three phase windings, magnetic core wherein has n magnetic pole (11) that highlights, winding is then realized by coil (12), these coils are arranged in the equal area of six phase cross-overs according to certain mode, make each phase region all be designated as a magnetic pole, and a plurality of coils that are in each phase region belong to same phase place, electrical motor also comprises the rotor (9) that has n-2 magnetic pole, this rotor is designed to the form of permanent magnet (13), accompany therewith, this rotor (9) is installed on the output shaft; The controollable power supply, it is used for the three phase windings power supply to motor stator; The rotor-position sensor of electrical motor (7), and control unit, the input port of this control unit is connected with the output port of torque sensor (5) and motor rotor position sensor (7), but its output port links to each other with the control input end mouth of described power supply, it is characterized in that: be in coil in the phase region, that belong to same phase in electrical motor (6) stator (10) three phase windings (12) and coupled together by the structure according to assembly in parallel.
2. the wheel electromechanical booster that turns to according to claim 1 is characterized in that: motor stator magnetic core (8) is used as the body (1) of steering handwheel servo-unit.
3. the wheel electromechanical booster that turns to according to claim 1 is characterized in that: the torsion bar (4) of torque sensor (5) is disposed in the inside of hollow output shaft.
4. the wheel electromechanical booster that turns to according to claim 1 is characterized in that: the torsion bar (4) of torque sensor (5) is disposed in the inside of hollow input shaft.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| RU2005126251 | 2005-08-19 | ||
| RU2005126251/11A RU2278797C1 (en) | 2005-08-19 | 2005-08-19 | Electromechanical steering booster and steering booster electric motor |
| PCT/RU2006/000429 WO2007024157A1 (en) | 2005-08-19 | 2006-08-14 | Car steering wheel electromechanical booster |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101365615A true CN101365615A (en) | 2009-02-11 |
| CN101365615B CN101365615B (en) | 2011-01-12 |
Family
ID=36714649
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2006800377406A Expired - Fee Related CN101365615B (en) | 2005-08-19 | 2006-08-14 | Car steering wheel electromechanical booster |
Country Status (9)
| Country | Link |
|---|---|
| US (1) | US8051943B2 (en) |
| EP (1) | EP1916176B8 (en) |
| KR (1) | KR101205129B1 (en) |
| CN (1) | CN101365615B (en) |
| AT (1) | ATE511468T1 (en) |
| ES (1) | ES2367181T3 (en) |
| RU (1) | RU2278797C1 (en) |
| SI (1) | SI1916176T1 (en) |
| WO (1) | WO2007024157A1 (en) |
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| CN101857047A (en) * | 2010-06-04 | 2010-10-13 | 同济大学 | Device and method for power assisted steering |
| CN105515321A (en) * | 2015-12-31 | 2016-04-20 | 万向钱潮传动轴有限公司 | Electric steering device directly driven by motor |
| CN106660582A (en) * | 2014-06-25 | 2017-05-10 | Trw有限公司 | An electric power assisted steering system |
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| US8862328B2 (en) | 2010-05-14 | 2014-10-14 | Steering Solutions Ip Holding Corporation | System and method for determining an absolute position of a motor shaft in an electric steering system |
| US9434407B2 (en) | 2010-05-14 | 2016-09-06 | Steering Solutions Ip Holding Corporation | Wake-up circuit in an electric steering system |
| US8390276B2 (en) | 2010-09-27 | 2013-03-05 | Bourns Incorporated | Target magnet assembly for a sensor used with a steering gear |
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| JP4617716B2 (en) * | 2004-05-11 | 2011-01-26 | 株式会社ジェイテクト | Electric power steering device |
| WO2006057317A1 (en) * | 2004-11-24 | 2006-06-01 | Nsk Ltd. | Non-connection motor, its drive control device and mortorized power steering device using drive control device of non-connection motor |
| JP4509841B2 (en) * | 2005-03-29 | 2010-07-21 | 株式会社ショーワ | Electric power steering device |
| US7325646B2 (en) * | 2005-07-15 | 2008-02-05 | Jtekt Corporation | Electric power steering apparatus |
-
2005
- 2005-08-19 RU RU2005126251/11A patent/RU2278797C1/en not_active IP Right Cessation
-
2006
- 2006-08-14 US US11/990,631 patent/US8051943B2/en not_active Expired - Fee Related
- 2006-08-14 KR KR1020087006418A patent/KR101205129B1/en active IP Right Grant
- 2006-08-14 SI SI200631097T patent/SI1916176T1/en unknown
- 2006-08-14 EP EP06799645A patent/EP1916176B8/en not_active Not-in-force
- 2006-08-14 AT AT06799645T patent/ATE511468T1/en not_active IP Right Cessation
- 2006-08-14 WO PCT/RU2006/000429 patent/WO2007024157A1/en active Application Filing
- 2006-08-14 ES ES06799645T patent/ES2367181T3/en active Active
- 2006-08-14 CN CN2006800377406A patent/CN101365615B/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101857047A (en) * | 2010-06-04 | 2010-10-13 | 同济大学 | Device and method for power assisted steering |
| CN101857047B (en) * | 2010-06-04 | 2013-07-17 | 同济大学 | Device and method for power assisted steering |
| CN106660582A (en) * | 2014-06-25 | 2017-05-10 | Trw有限公司 | An electric power assisted steering system |
| CN106660582B (en) * | 2014-06-25 | 2019-06-14 | Trw有限公司 | Electric boosting steering system |
| CN105515321A (en) * | 2015-12-31 | 2016-04-20 | 万向钱潮传动轴有限公司 | Electric steering device directly driven by motor |
Also Published As
| Publication number | Publication date |
|---|---|
| KR101205129B1 (en) | 2012-11-26 |
| US20090321173A1 (en) | 2009-12-31 |
| EP1916176A1 (en) | 2008-04-30 |
| US8051943B2 (en) | 2011-11-08 |
| EP1916176B1 (en) | 2011-06-01 |
| ES2367181T3 (en) | 2011-10-31 |
| ATE511468T1 (en) | 2011-06-15 |
| WO2007024157A1 (en) | 2007-03-01 |
| KR20080074089A (en) | 2008-08-12 |
| EP1916176B8 (en) | 2011-10-05 |
| EP1916176A4 (en) | 2009-08-12 |
| SI1916176T1 (en) | 2011-10-28 |
| CN101365615B (en) | 2011-01-12 |
| RU2278797C1 (en) | 2006-06-27 |
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